A 4-wheel-drive rover built on an ESP32, controlled wirelessly via Bluetooth using the Dabble app's GamePad module. Each wheel is driven independently through two DRV8833 motor driver boards.

• 4 independently wired DC motors (front-left, front-right, rear-left, rear-right)
• Bluetooth control via the Dabble app (Android/iOS) — no separate remote needed
• Skid-steering: d-pad Up/Down/Left/Right control forward, reverse, and turning
• PWM speed control using the ESP32's ledc peripheral

• ESP32 development board
• 2x DRV8833 motor driver modules (one for front motors, one for rear motors)
• 4x DC gear motors (4WD chassis)
• Battery pack (appropriate for your motors)
• Smartphone with the Dabble app installed

Note: DRV8833 uses PWM directly on IN1/IN2 for speed + direction — no separate enable pin is needed.

• Each motor uses 2 GPIOs on the ESP32, connected to its DRV8833 driver's inputs.
• Front connector on the driver board: Front-Left (IN1, IN2) + Front-Right (IN3, IN4)
• Rear connector on the driver board: Rear-Left (IN1, IN2) + Rear-Right (IN3, IN4)
• All grounds (ESP32 + both DRV8833 boards) must be tied together.

1. Install the Arduino IDE and add ESP32 board support if you haven't already.
2. Install the DabbleESP32 library (Library Manager → search "Dabble").
3. Open esp32-rover.ino in the Arduino IDE.
4. Select your ESP32 board and correct COM port.
5. Upload the sketch.
6. Open the Dabble app on your phone, connect to the ESP32 (MyBluetoothCar), select the GamePad module.
7. Use the d-pad to drive: Up = forward, Down = reverse, Left/Right = turn.

• Swap GamePad d-pad for joystick control (analog speed + smoother turning)
• Add ultrasonic obstacle avoidance
• Add per-wheel independent control for diagonal/mecanum-style movement

This project is licensed under the MIT License.